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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pri-methods">Private 成员函数</a> &#124;
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<div class="title">pcl::kinfuLS::ScreenshotManager类 参考</div>  </div>
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<p>Screenshot Manager saves a screenshot with the corresponding camera pose from Kinfu. Please create a folder named "KinFuSnapshots" in the folder where you call kinfu.  
 <a href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="screenshot__manager_8h_source.html">screenshot_manager.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a20cfd6d85cf1a2e821b27da8c8b13e63"><td class="memItemLeft" align="right" valign="top"><a id="a20cfd6d85cf1a2e821b27da8c8b13e63"></a>
typedef <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">pcl::gpu::kinfuLS::PixelRGB</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PixelRGB</b></td></tr>
<tr class="separator:a20cfd6d85cf1a2e821b27da8c8b13e63"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:ab39b3eaa3377322f30c9926b6aa3254f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#ab39b3eaa3377322f30c9926b6aa3254f">ScreenshotManager</a> ()</td></tr>
<tr class="separator:ab39b3eaa3377322f30c9926b6aa3254f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add2108cbb87eb6667636f80526a38429"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#add2108cbb87eb6667636f80526a38429">~ScreenshotManager</a> ()</td></tr>
<tr class="separator:add2108cbb87eb6667636f80526a38429"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a8afedbd8ca05932b2cd9f0730a0cae"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#a9a8afedbd8ca05932b2cd9f0730a0cae">setCameraIntrinsics</a> (float focal=575.816f, float height=480.0f, float width=640.0f)</td></tr>
<tr class="memdesc:a9a8afedbd8ca05932b2cd9f0730a0cae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets Depth camera intrinsics  <a href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#a9a8afedbd8ca05932b2cd9f0730a0cae">更多...</a><br /></td></tr>
<tr class="separator:a9a8afedbd8ca05932b2cd9f0730a0cae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3601cecbda007907fd8c25fc136e5b76"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#a3601cecbda007907fd8c25fc136e5b76">saveImage</a> (const Eigen::Affine3f &amp;camPose, <a class="el" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a>&lt; const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">PixelRGB</a> &gt; rgb24)</td></tr>
<tr class="separator:a3601cecbda007907fd8c25fc136e5b76"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:ac03f060b3d6b0b6d0cd14400cf6eb1d1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#ac03f060b3d6b0b6d0cd14400cf6eb1d1">writePose</a> (const std::string &amp;filename_pose, const Eigen::Vector3f &amp;teVecs, const Eigen::Matrix&lt; float, 3, 3, Eigen::RowMajor &gt; &amp;erreMats)</td></tr>
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Private 属性</h2></td></tr>
<tr class="memitem:a9f5c68bee7f2b30a8bdc41df78e237d6"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#a9f5c68bee7f2b30a8bdc41df78e237d6">screenshot_counter</a></td></tr>
<tr class="separator:a9f5c68bee7f2b30a8bdc41df78e237d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39801a1e2a49a4a6d98a1619b201d0c2"><td class="memItemLeft" align="right" valign="top"><a id="a39801a1e2a49a4a6d98a1619b201d0c2"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1kinfu_l_s_1_1_screenshot_manager.html#a39801a1e2a49a4a6d98a1619b201d0c2">focal_</a></td></tr>
<tr class="memdesc:a39801a1e2a49a4a6d98a1619b201d0c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Intrinsic parameters of depth camera. <br /></td></tr>
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<tr class="memitem:a2b067dd5ccb80b16e6fa721bd71a4131"><td class="memItemLeft" align="right" valign="top"><a id="a2b067dd5ccb80b16e6fa721bd71a4131"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>height_</b></td></tr>
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<tr class="memitem:adda582cf9760f7070e64c3e56d872963"><td class="memItemLeft" align="right" valign="top"><a id="adda582cf9760f7070e64c3e56d872963"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>width_</b></td></tr>
<tr class="separator:adda582cf9760f7070e64c3e56d872963"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Screenshot Manager saves a screenshot with the corresponding camera pose from Kinfu. Please create a folder named "KinFuSnapshots" in the folder where you call kinfu. </p>
<dl class="section author"><dt>作者</dt><dd>Francisco Heredia </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ab39b3eaa3377322f30c9926b6aa3254f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab39b3eaa3377322f30c9926b6aa3254f">&#9670;&nbsp;</a></span>ScreenshotManager()</h2>

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          <td class="memname">pcl::kinfuLS::ScreenshotManager::ScreenshotManager </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Constructor </p>

</div>
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<h2 class="memtitle"><span class="permalink"><a href="#add2108cbb87eb6667636f80526a38429">&#9670;&nbsp;</a></span>~ScreenshotManager()</h2>

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          <td class="memname">pcl::kinfuLS::ScreenshotManager::~ScreenshotManager </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Destructor </p>
<div class="fragment"><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{}</div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a3601cecbda007907fd8c25fc136e5b76"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3601cecbda007907fd8c25fc136e5b76">&#9670;&nbsp;</a></span>saveImage()</h2>

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          <td class="memname">void pcl::kinfuLS::ScreenshotManager::saveImage </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>camPose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a>&lt; const <a class="el" href="structpcl_1_1gpu_1_1kinfu_l_s_1_1_pixel_r_g_b.html">PixelRGB</a> &gt;&#160;</td>
          <td class="paramname"><em>rgb24</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Save Screenshot </p>

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<a id="a9a8afedbd8ca05932b2cd9f0730a0cae"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a8afedbd8ca05932b2cd9f0730a0cae">&#9670;&nbsp;</a></span>setCameraIntrinsics()</h2>

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          <td class="memname">void pcl::kinfuLS::ScreenshotManager::setCameraIntrinsics </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>focal</em> = <code>575.816f</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>height</em> = <code>480.0f</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>width</em> = <code>640.0f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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<p>Sets Depth camera intrinsics </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">focal</td><td>focal length x </td></tr>
    <tr><td class="paramdir"></td><td class="paramname">height</td><td></td></tr>
    <tr><td class="paramdir"></td><td class="paramname">width</td><td></td></tr>
  </table>
  </dd>
</dl>

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<a id="ac03f060b3d6b0b6d0cd14400cf6eb1d1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac03f060b3d6b0b6d0cd14400cf6eb1d1">&#9670;&nbsp;</a></span>writePose()</h2>

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          <td class="memname">void pcl::kinfuLS::ScreenshotManager::writePose </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>filename_pose</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>teVecs</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; float, 3, 3, Eigen::RowMajor &gt; &amp;&#160;</td>
          <td class="paramname"><em>erreMats</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Write camera pose to file </p>

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<h2 class="groupheader">类成员变量说明</h2>
<a id="a9f5c68bee7f2b30a8bdc41df78e237d6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9f5c68bee7f2b30a8bdc41df78e237d6">&#9670;&nbsp;</a></span>screenshot_counter</h2>

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          <td class="memname">int pcl::kinfuLS::ScreenshotManager::screenshot_counter</td>
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<p>Counter of the number of screenshots taken </p>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/<a class="el" href="screenshot__manager_8h_source.html">screenshot_manager.h</a></li>
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